Pill dispensing system

ABSTRACT

A pill dispensing system includes a shelving unit in array form that holds a number of bulk containers, each holding a bulk amount of a pill to be dispensed. A computer controlled robot removes a selected bulk container and places it on a counter that also dispenses pills. The robot has an arm with a free end portion that can grip a bulk container or a single pill bottle to be filled. The robot is computer controlled to retrieve an empty pill bottle, place it on a label printing and applying unit, then place it next to the counter/dispenser to receive the selected number of selected prescription pills, then place the filled, labeled bottle on a conveyor. In an alternate embodiment, pill bottles are dispensed from a dispenser that holds bottles on inclined plates and feeds them to a vertical dispensing channel. Gates prevent the flow of bottles from an inclined position until the plate above has been emptied.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of U.S. patent application Ser. No.10/655,226 filed Sep. 4, 2003, now U.S. Pat. No. 6,775,589, which is acontinuation of U.S. patent application Ser. No. 10/233,807 filed Sep.3, 2002, now U.S. Pat. No. 6,681,149, which is a continuation of U.S.patent application Ser. No. 09/768,200, filed Jan. 23, 2001 nowabandoned, which is a continuation of U.S. patent application Ser. No.09/205,246, filed Dec. 4, 1998, now U.S. Pat. No. 6,176,392, which is acontinuation-in-part of U.S. patent application Ser. No. 08/986,665,filed Dec. 8, 1997, now U.S. Pat. No. 6,036,812, which is acontinuation-in-part of U.S. patent application Ser. No. 08/986,247,filed Dec. 5, 1997, now U.S. Pat. No. 6,006,946, which are incorporatedherein by reference.

STATEMENT REGARDING FEDERALLY SPONSORED RESEARCH OR DEVELOPMENT

Not applicable

REFERENCE TO A “MICROFICHE APPENDIX”

Not applicable

BACKGROUND OF THE INVENTION

1. Field of the Invention

The present invention relates to systems for automatically fillingprescriptions, and more particularly to a computer controlled system fordispensing containers (e.g., pill bottles) and then filling the bottleswith pills, wherein a robotic arm removes bulk containers one at a timeand then fills a selected bottle with a selected number of pills fromthe selected bulk container.

2. General Background of the Invention

In the pharmaceutical industry, many different types of pills must bequickly dispensed into pill bottles in order to efficiently provideprescription services to patients. Several such systems have beenpatented that disclose devices attempting to automate pill prescriptionservices.

Kerney Hurst is a named inventor of a number of issued and now expiredU.S. patents that deal with counting articles such as pills from acassette or drum.

U.S. Pat. Issued Filing Expiration No. Date Date Title Date Inventors3,045,864 Jul. 24, Jan. 25, “Article Jul. 24, Hurst/ 1963 1959 Counting1979 Pearson Device” 3,170,627 Feb. 23, Jul, 08, “Article Feb. 23,Pearson/ 1965 1963 Counting 1983 Hurst Device” 3,215,310 Nov. 02, Jul.03, “Article Nov. 02, Hurst/ 1965 1963 Counting 1982 Pearson Device”3,266,664 Aug. 16, Jun. 09, “Article Aug. 16, Pearson/ 1966 1965Counting 1983 Hurst Device” 3,368,713 Feb. 13, Aug. 15, “Article Feb.13, Hurst/ 1968 1966 Counting 1985 Pearson Device” 4,111,332 Sep. 05,Dec. 16, “Article Sep. 05, Hurst/ 1978 1974 Counting 1995 PearsonDevice” 4,171,065 Oct. 16, Dec. 06, “Circuitry Oct. 16, Hurst 1979 1976And System 1996 For Control- ling Multi- Use Article Dispensing Cells

A more recent Kerney Hurst patent is U.S. Pat. No. 4,869,394 whichrelates to a cassette for holding pills to be dispensed. The cassettesof the Hurst '394 patent cooperate with a counter/dispenser having amotor drive that rotates a drum inside the cassette to dispense andcount pills contained in the drum. A selected pill in a selectedcassette is placed upon the motor drive when a prescription is to befilled. The druggist then selects a number of pills using a numeric keypad entry. The druggist also selects a desired size pill bottle andplaces that pill bottle under the counter/dispenser so that when themotor drive rotates the drum contained within the cassette, the desirednumber of pills are dispensed from the cassette through thecounter/dispenser and into the pill bottle.

Recent patents deal with the concept of automating the process offilling a prescription. These include U.S. Pat. Nos. 5,208,762 and5,337,919. The '762 patent, issued to Charhut et al., discloses a methodand apparatus for dispensing drugs, wherein a patient's order of one ormore prescriptions is automatically filled. Various drugs are stored inthree or more filler lines. A vial size is assigned to each line. When aprescription is filled, it is automatically assigned to a line in viewof the vial size requirements and processed accordingly. Provisions aremade for the inability to fill a prescription or order. Subsequently,all of the patient's prescriptions are collected and made available as asingle order.

U.S. Pat. No. 5,337,919, issued to Spaulding et al., discloses anautomatic prescription dispensing system that includes a housing orflame having a plurality of pill dispenser units mounted therein, aplurality of vial supply assemblies at one end of the housing, and afilled vial off load carousel at an opposite end. A vial manipulatorassembly is mounted on the housing to enable translational movement of avial manipulator frame vertically and horizontally and pivoting about avertical axis to retrieve vials from the supply assemblies, fill thevials at the dispenser units, and deposit the filled vials onto thecarousel. The vial manipulator frame includes spring loaded grippers toengage and carry the vials and a drive motor and gear for meshing withdispenser unit gears to operate the dispenser units. The system includesa controller including an interface for coupling to the printer port ofa pharmacy host computer printer port for intercepting drug name andquantity data for a prescription which was directed to a prescriptionlabel printer. Such prescription data is used by the controller forselecting the dispenser unit having the required drug, vial size, andnumber of pills to be dispensed.

Some automated drug filling systems automatically fill a prescriptionand even apply a cap to the pill bottle. These are typically veryexpensive devices that are only justifiable to very large end users suchas hospitals.

There is a need for an automated prescription filling system thatincludes a bottle dispenser that can be used by smaller and medium sizedusers such as pharmacies as opposed to very large hospitals.

There is also a need for a container (e.g., pill bottle) dispensingsystem that uses a cabinet or shelving unit that holds storagecontainers that can quickly and automatically access a container forsubsequent filling (e.g., with a selected pill).

BRIEF SUMMARY OF THE INVENTION

The present invention provides a method and apparatus for automaticallydispensing containers such as bottles for prescription medication. Thesystem produces a label and fills prescription vials with a specificdrug for a specific patient. The system includes a “cassette” based pillcounting system and a label printer serviced by an articulated roboticmanipulator whose functions are coordinated by a computer toextemporaneously label and fill prescription vials.

A record of prescription information is received by the controllingcomputer from a pharmacy order entry computer. This record includesusual prescription label information such as patient name, doctor name,instructions, etc. as well as drug and quantity information.

The controlling computer directs a robotic manipulator to retrieve adrug storage unit which includes a queuing and separating means (i.e.,cassette).

The controlling computer sends the drug and quantity information to acontrol counter/dispenser which will cooperate with the drug storagecassette to count and dispense the required number of pills. The roboticmanipulator arm places the cassette on a counter, and a bar code on thecassette is read by a scanner interfaced to the counter. If the bar codematches the drug information, the counting and dispensing system isactivated and pills are dispensed to a temporary holding volume.

While the pills are being counted the robotic manipulator arm retrievesan empty vial from a vial dispenser. The manipulator then places thevial on a vial rotating device which is positioned in a manner so thatthe prescription label is applied to the label to the vial as it isprinted. The robotic manipulator then retrieves the labeled vial fromthe labeler and maneuvers the vial to the temporary pill holding volume.Then robotic manipulator lifts a gate allowing the pills to fall fromthe holding volume into the vial.

The manipulator then places the filled vial to a conveyor means andreleases it. The conveyor then transports it to an operator for checkingand delivery to the patient.

The robotic manipulator then retrieves the cassette from the counter andreturns the cassette to its shelf. When a cassette requiresreplenishment of it's stock, the manipulator retrieves the cassette fromits storage shelf and places it in an output holding area that isaccessible by a system operator. The operator removes the cassette fromthe output holding area and performs the replenishment steps. Thecassette is returned to service by placing it in an input holding area.The manipulator then returns the cassette to its storage shelf. Multiplevial sizes are accommodated by the single robotic manipulator.

The present invention thus provides an improved method and apparatus forfilling prescriptions. The method of the present invention provides astorage shelving unit that can be an array having a plurality of shelvesarranged in vertical columns for storing a plurality of bulk containers.Each respective container contains and stores a bulk quantity (e.g., 100to 2000 pills) of a selected pharmaceutical to be dispensed.

A robotic, computer controlled arm is used to grasp a selected one ofthe containers that has the correct pills for the prescription to befilled.

The selected container is then removed from its receptacle with therobot arm and then placed by the robot arm on a counter/dispenser.

Pills are then dispensed in a correct number from the container by thecounter and into a pill bottle that is also supported by the robot arm.Dispensing of the pills can be suspended until the robot arm has grabbeda pill bottle and placed it under the discharge chute of thecounter/dispenser. The counter/dispenser then counts and dispenses thepills.

With the method of the present invention, the robotic arm then removesthe container from the counter/dispenser and returns it to itsreceptacle.

The method of the present invention further comprises the step of usinga computer to control the robotic arm during movement of the bulkcontainer and pill bottle.

In the method of the present invention, the pill bottle is moved from apill bottle dispenser to a labeling machine and then to thecounter/dispenser.

The method of the present invention further comprises the step of movingthe pill bottle to a conveyor after it has been filled so that thepharmacist can check the prescription and cap the bottle.

The method of the present invention includes the step of arranging thebulk containers and receptacles in an array having a curved front inwhich the robotic arm rotates in order to access the receptacles.

The method of the present invention includes the step of controlling thecounter with a computer so that a pharmacist sitting at a computerconsole can direct movement of the robotic arm to: 1) select a desiredbulk container, 2) place that container on the counter/dispenser, 3)retrieve a pill bottle of selected size, 4) place a label on a pillbottle, 5) dispense the selected number of pills from thecounter/dispensing unit into the pill bottle; and 6) place the pillbottle on a conveyor.

The apparatus of the present invention thus provides an improvedapparatus for filling prescriptions. The apparatus includes a shelvingunit defining an array of storage containers, each container having aninterior for holding a bulk amount of a selected pill product.

Each container is removable from the shelving unit, having a receptaclethat separates each container from the next container. A computercontrolled robotic arm reaches and grips a selected container andremoves it from its receptacle. The computer controlled robotic arm hasa free-end portion that grips the container to transport it to acounter.

A counter receives the selected container, the counter being computercontrolled to dispense a selected number of pills therefrom into abottle.

The free-end portion of the robotic arm has first and second grippingportions that can selectively grip a selected container or a selectedpill bottle respectively.

The present invention provides a shelving unit that is curved in shapealong its front surface.

The containers are arranged in an array that is accessed by the roboticarm when the robotic arm rotates about a center of rotation. Theshelving unit has a curved shape that conforms to the movement of therobotic arm free end as the robot rotates about its center of rotation.

The robotic arm can move its free end portion into multiple anddifferent elevational positions such as when removing a container from ahigher or lower shelf.

The shelving unit preferable comprises a plurality of vertical columns,each column having a plurality of vertically spaced apart shelves forholding containers in an aligned vertical column.

Each column has a front face that is perpendicular to a radial line thatextends radially from the center of rotation of the robotic arm.

The free-end portion of the robotic arm includes a pair of opposedgripping surfaces that move between opened and closed positions. Thefree-end portion of the robotic arm includes a pair of opposed jaws thatare specially shaped to grip either the container or the pill bottle.

The free-end portion of the robotic arm has a gripping surface portionthat includes a pair of opposed jaws with a first pair of shapedsurfaces thereon for gripping one of the selected bulk containers and asecond pair of surfaces that are curved for engaging the sides of a pillbottle to be handled during the pill dispensing procedure.

The shelving unit includes a plurality of shelf surfaces that can beinclined upon which the containers are supported.

A counter/dispenser or counting unit is spaced circumferentially awayfrom the shelving unit. The robotic arm rotates away from the shelvingunit to the counter/dispenser during use. The robotic arm moves its freeend portion along a path that enables changes of elevation for both thefree-end portion of the robotic arm and the supported container therobotic arm places the selected cassette or container on the countingunit. A selected number of pills are dispensed into a chute of thecounting unit.

A bottle dispenser can be provided for holding a plurality of bottles tobe filled with prescriptions. The bottle dispenser present a selectedpill bottle for filling and the robotic arm enables its free end portionto move to a bottle gripping position at the bottle dispenser and fromthere to a bottle labeler and then to a filling position next to thecounter/dispenser. The bottle can be of multiple bottle sizes to beselected on demand. The vials or bottles may be retrieved from a devicethat holds them in an ordered orientation. A labelling step may beinterjected before placing the vial next to the counter/dispenser.

An alternate embodiment of the apparatus of the present inventionprovides an alternate bottle dispensing construction. The alternateconstruction of the bottle dispenser includes a frame having asupporting base with a pair of side walls with a space therebetween anda bottle dispensing opening at the bottom of the frame. A plurality ofinclined plates are positioned in between the side walls and supportedby the frame, each of the plates being sized to carry a plurality ofbottles to be dispensed. The inclined orientation of the plates enablesthe bottles to move toward the front of the frame under the influence ofgravity.

The frame provides a dispensing channel for dispensing bottles from anupper end portion of the frame to a lower end portion of the frame andto a dispensing opening. A plurality of gates, one at the end of each ofthe inclined plates control the flow of bottles from one or more platesto the channel. Each gate is movable between an open and closedposition.

Each of the gates has a counter weight that urges the gate into anopened position. The gates are configured to open when the inclinedplate above the gate has been emptied of bottles. The frame has adispensing outlet at the front bottom of the frame for dispensingbottles from the dispensing channel one at a time.

A conveyor can be provided for receiving pill bottles that have beenlabeled and filled with a prescription.

The robotic arm enables its free-end portion to move a pill bottle froma position next to the counter during filling to a position on theconveyor once it is filled with the selected prescription.

BRIEF DESCRIPTION OF THE DRAWINGS

For a further understanding of the nature, objects, and advantages ofthe present invention, reference should be had to the following detaileddescription, read in conjunction with the following drawings, whereinlike reference numerals denote like elements and wherein:

FIG. 1 is a perspective view of the preferred embodiment of theapparatus of the present invention;

FIG. 2 is a fragmentary view of the preferred embodiment of theapparatus of the present invention showing the bulk container andfree-end portion of the robotic arm just prior to a gripping of the bulkcontainer with the free-end portion of the robotic arm;

FIG. 3 is a perspective fragmentary view of the preferred embodiment ofthe apparatus of the present invention shown during a gripping of thebulk container with the free-end portion of the robotic arm;

FIG. 4 is a perspective fragmentary view of the preferred embodiment ofthe apparatus of the present invention showing the robotic arm free-endportion gripping a pill bottle to be filled;

FIG. 5 is an elevational fragmentary view of the preferred embodiment ofthe apparatus of the present invention showing the robotic arm accessingbulk containers at different levels of one column of the array of theshelving unit;

FIGS. 6–6A are a partial perspective view of the preferred embodiment ofthe apparatus of the present invention shown with the array of shelvesremoved;

FIG. 7 is a fragmentary elevational view of the preferred embodiment ofthe apparatus of the present invention illustrating the placement of abulk container on the counter/dispenser,

FIG. 8 is a fragmentary elevational view of the preferred embodiment ofthe apparatus of the present invention showing the removal of a pillbottle from the pill bottle dispenser by the robotic arm;

FIG. 9 is a fragmentary elevational view of the preferred embodiment ofthe apparatus of the present invention showing the robotic arm duringthe application of a label to the pill bottle at the label printer;

FIG. 10 is a fragmentary elevational view of the preferred embodiment ofthe apparatus of the present invention showing the dispensing of aselected number of pills from the counter/dispenser into a pill bottlethat is supported by the robotic arm;

FIG. 11 is a fragmentary sectional elevational view of the preferredembodiment of the apparatus of the present invention showing theplacement of a pill bottle on the conveyor after it has been filled witha selected number of pills;

FIG. 12 is an elevational view of an alternate embodiment of theapparatus of the present invention showing the pill bottle dispenserportion thereof;

FIG. 13 is a fragmentary elevational view of the alternate embodiment ofthe apparatus of the present invention;

FIG. 14 is a sectional elevational view taken along lines 14—14 of FIG.13;

FIG. 15 is a fragmentary elevational view of the alternate embodiment ofthe apparatus of the present invention;

FIG. 15A is a perspective fragmentary view of the alternate embodimentof the apparatus of the present invention;

FIG. 16 is a partial elevational view of the alternate embodiment of theapparatus of the present invention showing movement of the gates;

FIG. 17 is a partial perspective view of the alternate embodiment of theapparatus of the present invention;

FIG. 18 is a partial perspective view of the alternate embodiment of theapparatus of the present invention illustrating the transfer of a pillbottle from the dispenser by the robotic arms;

FIG. 19 is a perspective fragmentary view of the alternate embodiment ofthe apparatus of the present invention showing a gripping of a pillbottle to be dispensed by the robotic arm; and

FIG. 20 is a fragmentary perspective view of the alternate embodiment ofthe apparatus of the present invention showing the robotic arm after ithas removed a pill bottle from the dispenser.

DETAILED DESCRIPTION OF THE INVENTION

FIGS. 1–6 show the preferred embodiment of the apparatus of the presentinvention, designated generally by the numeral 10 in FIG. 1. In FIGS. 1and 6, pill dispensing apparatus 10 includes generally the variouscomponents supported on frame 40, an operator's console 11, a shelvingunit 12, robot 24, and a frame 40. Frame 40 supports shelving unit 12,console 11, robot 24, a label printing and applying device 54, and acounter/dispenser 60, and pill bottle dispenser 45.

Frame 40 can be provided with a plurality of feet 41 for engaging anunderlying surface, shop floor, concrete slab, or the like.

Shelving unit 12 is seen in FIGS. 1 and 5. The shelving unit 12 includesa plurality of vertically extending column members 13 each having a toppanel 14, a bottom panel 15, a rear panel 16, and side walls 22, 23.

A generally flat front surface 17 is provided to each column 13 asdefined by the front edge of side walls 22, 23 and the front edge ofshelves 18. The shelves 18 in combination with side walls 22, 23 definereceptacles 19 for receiving bulk containers 20.

The bulk containers 20 can be a cassette type container having a rotarydrum contained therein and a handle 21 for manipulating the bulkcontainer. The rotating drum has a slotted disk that cooperates with thecounter/dispenser to count and dispense the pills. Such bulk containers20 are in commercial use, being marketed by Automated PrescriptionSystems, Inc. of Alexandria, La. and shown, for example, in U.S. Pat.No. 4,869,394 incorporated herein by reference.

Other counting device bulk containers such as the Drug-O-Matic sold byAutomated Prescription Systems, Inc. or the ATC212 cassette sold byBaxter International of Deerfield, Ill. could be used. The bulkcontainers 20 would be used to contain different kinds of pills. Forexample, a single container 20 might contain Seldane.RTM. The nextindividual container might contain Augmentin.RTM., etc. Typically, thesebulk containers 20 would contain 100–2000 pills whereas a typicalprescription might fill a bottle with 20 or 30 pills. Cassettes 20 thusfulfill two functions. One is to store a stock quantity of pills fromwhich a specific patient quantity can be counted. The other function isto cooperate with the counting head 51 to queue and separate the pillsfor counting and dispensing. The essence of the counting method is aslotted disk that rotates at an angle. The cassette is designed with ahandle which makes it easily manipulated by the robot 24 or a human.Each of the cassettes 20 may be removed singly from its storage shelfand maneuvered to the counting head. When a cassette 20 requiresreplenishment, the robot 24 transports it from its storage shelf to a“replenish out” shelf 66. The operator retrieves it from there andperforms necessary replenishment activities on it. When finished, theoperator places it in the “replenish in” port 67 where a bar code on thecassette is automatically scanned with scanner 65. Based on the bar codedata, the robot retrieves the cassette and returns it to the storageshelf.

A robot 24 provides a robotic arm 25 that can rotate about its pedestal26 into different rotational positions. As shown in FIG. 5, the roboticarm 25 has a free-end portion 31 that can move into differentelevational positions such as the lower elevational position 25A shownin phantom lines in FIG. 5 and the higher elevational position shown inphantom lines 25B in FIG. 5. The free end 31 can also change in radialposition and attitude. This combination of rotational movement of therobotic arm 25 and the different elevational positions of its free-end31 enables the free-end portion 31 to grip and retrieve any selectedbulk container 20 by grasping the handle 21 portion thereof as will beexplained more fully hereinafter. A computer can be controlled toactivate movement of the robotic arm 25 and its free-end portion 31,particularly the jaws 32, 33 thereof.

Robot 24 can be a commercially available robot, being manufactured andsold by Motoman Corporation of West Carrolton, Ohio, for example. Such arobot 24 and its robotic manipulator arm 25 has multiple arm segments29, 30. The pedestal 26 provides a rotating connection that enables therobotic arm 25 to rotate with respect to horizontal support surface 28.The horizontal support 28 can be supported by a vertical frame 27portion of frame 40 as shown in FIGS. 5 and 6. The robotic manipulatorarm 25 is able to repeat certain maneuvers in space according to thecommand input and place the free end portion or gripping means 31 in a3-dimensional space with variable attitudes (angles) about threeorthogonal axes. The robot 24 performs five primary functions: 1) movecassette 20 from its storage shelf 18 to the counter 51 and vise-a-versa2) move the empty prescription vial 50 from the vial storage 45 and tothe label applier 64; 3) move the labeled vial 50 to the temporaryholding volume of the counting head 51 for transfer of the pills intothe vial 50; 4) move the filled vial 50 to the off-load conveyor 60; and5) move cassettes 20 between the replenishment ports 66, 67 and thecassette storage shelves 12.

In FIGS. 2–4, the free-end portion 31 of robotic arm 25 is shown moreparticularly, including moving jaws 32, 33 that can be used to gripeither container 20 or pill bottle 50. In FIG. 2, the jaws 32, 34provide respective side wall portions 34, 35. Each of the side walls 34,35 provides a flat inside surface that is used to engage the handle 21as shown in FIGS. 2 and 3. The side wall 34 provides a flat insidesurface 36. The side wall 35 provides a generally flat inside surface37.

These surfaces 36, 37 engage handle 21 when the jaws 32, 34 move to aclosed position. Horizontal plate 38 is attached to side wall 34 bywelding, for example. Likewise, the horizontal plate 39 is attached toside wall 35 by welding, for example. The horizontal plates 38, 39 areeach provided with an arc-shaped section 46, 47 respectively forconforming to the outer surface of a cylindrically-shaped pill bottle 50as shown in FIGS. 2 and 4. The arc shaped sections 46, 47 have curvedwalls 48, 49 respectively. In FIG. 4, the pill bottle 50 has beengripped by the arc-shaped surfaces 46, 47 of plates 38, 39 and by curvedwalls 48 and 49 that are attached thereto by welding for example.

Arrow 42 in FIG. 2 illustrates the forward movement of free-end portion31 of robotic arm 25 when a container 20 is to be removed from areceptacle 19 of shelving unit 12. Arrows 43 in FIG. 3 illustrate thatjaws 32, 33 can be moved between a closed or gripping position and anouter, open position. The open position of jaws 32, 33 is used when thefree-end portion 31 has not yet gripped the container 21, but isattempting to do so. The closed position of jaws 32, 33 is used (FIG. 3)when the handle 21 of container 20 is to be gripped. In FIG. 4, theclosed position of jaws 32, 33 is shown wherein pill bottle 50 has beengripped between curved walls 48, 49 and arcuate surfaces 46, 47 of jaws32, 33.

In FIGS. 1–6, a computer 44 can be used for controlling the movement ofrobotic arm 25, and the dispensing of pills from a selected container 20through a counter/dispenser or counting head 51. Counter/dispensers areknown in the art such as those shown and described in U.S. Pat. Nos.4,111,332 and 4,869,394. Its function is coordinated to count a specificquantity for a specific prescription when the proper cassette is placedon the counting head. It also includes a temporary storage volume fromwhich the pills will be retrieved.

Movement of the robotic arm 25 is computer controlled into bothrotational and elevational positions as shown in FIG. 5. The computer 44controls the operation of the robotic arm 25 to grab a pill bottle 50from pill bottle dispenser 45. The robotic arm places the pill bottle 50on label printer and applier 54 so that a prescription label withdesired patient and prescription information can be included on thelabel that is printed and applied to the bottle 50. The computer 44sends label information such as patient name, drug and instructions tothe label printer. Additionally, the discharge of pills from container20 through counter/dispenser 51 can be controlled with computer 44. Thecomputer 44 also controls the arm 25 to place a filled bottle 50 onconveyor 60.

In FIG. 7, the robot arm is shown placing container 20 oncounter/dispenser 51 so that pills can be dispensed therefrom. Thecounter/dispenser has a chute 52 for receiving pills that have beencounted and dispensed from container 20. In FIG. 7, the pills 55 areshown contained within chute 52 after they have been dispensed fromcounter/dispenser 51.

The counter/dispenser 51 can be provided with a door 53 that closeschute 52 so that the pills will be retained therein is shown in FIG. 7until a pill bottle 50 is placed by robotic arm 25 in a position thatopens the door 53 so that the pills will travel into the bottle as shownin FIG. 10.

The computer 44 can also be used to control the placement of a label 56on pill bottle 50 as shown in FIG. 9 using label printer 54 and labelapplier 64. The applicator is positioned near the output of the labeler.It includes a roller and clamp mechanism. The robot puts the vial on theroller. As the label exits the printer, the vial is rotated and thelabel is applied.

After a pill bottle 50 has been filled with pill 55, it can be removedfrom the position shown in FIG. 10 and placed on a conveyor 60 as shownin FIG. 11. Vial conveyor 60 is used to transport the finished vialsfrom the system enclosure.

The conveyor 60 is divided into at least two lanes. One lane is alwaysused for “exception” vials and typically stops near the display andcontrol unit. The other lanes are separately routed to remotedestinations for the prescriptions such as “packing stations” of themodel Pharmacy 2000 pill dispensing system, sold by APS, Inc. assigneeof this application.

The conveyor 11 provides end portions 61,62 and a wall 63 that retains anumber of pill bottles 50 on the conveyor 60 until a druggist can removethem as shown in FIG. 6. This enables the druggist to control thecomputer 44 from console 11 and from that same position inspect eachpill bottle 50, its label 56, and the pills 55 that have been dispensedthereinto to confirm that the prescription has in fact been properlyfilled.

FIGS. 12–20 show an alternate embodiment of the apparatus of the presentinvention designated generally by the numeral 70 in FIG. 12. In FIG. 12,there is shown a bottle dispensing apparatus 70 that can be used inplaced of the pill bottle dispenser 45 shown in FIGS. 1, 6–6A, and 8. Inthe alternate embodiment of FIGS. 12–20, the robot arm 25 grasps a pillbottle 86 from pill bottle dispenser 70 (see FIGS. 18–20) as analternate to the removal of a pill bottle from dispenser 45 shown inFIG. 8. Otherwise, the pill bottle 86, once removed is used in thefilling of a prescription as with the embodiment of FIGS. 1–11.

In FIG. 12, bottle dispensing apparatus 70 includes a frame 71 having anupper end 72 and a lower end 73. Frame 71 provides a front 74 that isgenerally planar and vertical and a rear 75 that is generally planar andvertical. A plurality of inclined plates 76–85 form a part of frame 71,the plate 76–85 being mounted in between side walls 89, 90 and connectedthereto by welding, for example.

The plurality of inclined plates 76–85 enable a plurality ofcylindrically-shaped pill bottles 86 to be stored on the inclined plates76–85 as shown in FIG. 12. Because each of the plates 76–85 is inclined,the pill bottle 86 stored on each plate 76–85 roll toward the front 74of frame 71 during use. At the front 74 of frame 71, there is provided apair of spaced apart front panels 87, 88 with a gap therebetween. Thefront panels 87, 88 can simply be a continuation of side walls 89, 90being formed integrally therewith. For example, the panels 87, 88 cansimply be bent portions that are extensions of the side walls 89, 90respectively.

Frame 71 provides a dispensing outlet 91 at the front 74 of frame 71 andat the lower end 73 of frame 71 as shown in FIGS. 12 and 18–20.Dispensing outlet 91 allows one cylindrically-shaped pill bottle 86 at atime to be dispensed from pill bottle dispenser 70. Delivery chute 91extends in front of and below dispensing outlet 91 as shown in FIGS. 12and 18–20. Delivery chute 92 has a pair of side walls 115, 116 and apair of opposed stop portions 117, 118. The stop portions 117, 118 catcha bottle 86 after it has been dispensed so that it can be grabbed andremoved by robotic arm 25 as shown in FIGS. 18–20.

During operation, the pill bottles 86 that are stored on the inclinedplates 76–85 move toward the front 74 of frame 71 as pill bottles 86 aredispensed one at a time from dispensing outlet 91 and into deliverychute 92. In order to feed pill bottles 86 one at a time, a plurality ofgates 100–108 are provided, each gate 100–108 being mounted respectivelyat the front end portion of an inclined plate 76–85 as shown in FIG. 12.

In addition to the plurality of gates 100–108, a dispensing channel 93is provided that extends along the front 74 of frame 71. The dispensingchannel 93 includes an upper end 94 and a lower end 95. The lower end 95communicates with dispensing outlet 91. In FIG. 12, arrows 96 show thedownward flow of pill bottles 86 during use and within the channel 93.

In FIG. 13, arrow 97 shows the movement of bottles 86 toward channel 93as they are moved by gravity toward the front 74 of frame 71 andeventually to channel 93. Arrow 98 in FIG. 16 illustrates the turn thata pill bottle 86 experiences when it leaves an inclined plate such asthe plate 77 in FIG. 16 and enters channel 93. Curved arrow 99 in FIG.16 illustrates the rotational movement of a gate 100 that occurs afterall of the pill bottles 86 have been removed from two inclined plates77, 78 that are immediately below the pivotal or rotary attachment of agate 100 to frame 71.

Each of the gates 100–108 includes a counterweight 109 and a V-shapedportion 110. Further, a pair of spaced apart horizontal shafts 111, 112are provided integrally with V-shaped portion 110. These horizontalshaft portions 111, 112 enable the gates 100–108 to be mounted to frame71 using bearings 113 (for example, plastic sleeves). In FIGS. 18–20,the arrow 114 shows the turn that is made by pill bottles 86 that leavedispensing channel 93 and enter chute 92.

In FIGS. 13 and 14, the operation of the gates 100–108 can be seen. InFIG. 13, all of the inclined plates 76–85 are filled with bottles 86. Asthe bottles are dispensed from chute 92, the bottles from the highestinclined plate 73 that contains bottles 86 is emptied by the arrow 97 inFIG. 13. Once the bottles 86 on the inclined plate 76 are emptied, thebottles 86 contained in vertical dispensing channel 93 move downwardly.As soon as the bottles 86 in vertical dispensing channel 93 movedownwardly below the bottom 119 of a particular gate 100–109,counterweight 109 rotates the gate into the open position as shown byarrow 99 in FIG. 16. When this occurs, the gate opens up the next row ofpill bottles 86 contained on the next inclined plate that contains thebottles.

Each gate 100–108 opens in sequence, beginning with the gate 100 andending with the gate 108. In the meantime, as each gate opens, thehighest inclined plate 76 followed by the next highest inclined plate 77dispenses its contents of pill bottles 86. The last inclined plate todispense its bottles 86 is the lowest inclined plate 85. By the time theinclined plate 85 dispenses its bottles 86, bottles 86 contained in thevertical dispensing channel 93 will have moved below the bottom 119 ofgate 108, namely, the lowest gate.

PARTS LIST

The following is a list of suitable parts and materials for the variouselements of the preferred embodiment of the present invention.

Part Number Description 10 pill dispensing apparatus 11 console 12shelving unit 13 column 14 top panel 15 bottom panel 16 rear panel 17front surface 18 shelf 19 receptacle 20 bulk container 21 handle 22 sidewall 23 side wall 24 robot 25 robotic arm    25A robotic arm   25Brobotic arm 26 pedestal 27 vertical frame 28 horizontal support 29 annsegment 30 arm segment 31 free end portion 32 jaw 33 jaw 34 side wall 35side wall 36 flat inside surface 37 flat inside surface 38 horizontalplate 39 horizontal plate 40 frame 41 feet 42 arrow 43 arrow 44 computer45 pill bottle dispenser 46 arcuate surface 47 arcuate surface 48 curvedwall 49 curved wall 50 pill bottle 51 counter/dispenser 52 chute 53 door54 label printer 55 pills 56 label 60 conveyor 61 end 62 end 63 wall 64label applier 65 bar code scanner 66 replenish out port 67 replenish inport 70 bottle dispensing apparatus 71 frame 72 upper end 73 lower end74 front 75 rear 76 inclined plate 77 inclined plate 78 inclined plate79 inclined plate 80 inclined plate 81 inclined plate 82 inclined plate83 inclined plate 84 inclined plate 85 inclined plate 86cylindrically-shaped bottles 87 front panel 88 front panel 89 side wall90 side wall 91 dispensing outlet 92 delivery chute 93 dispensingchannel 94 upper end channel 95 lower end channel 96 arrow 97 arrow 98arrow 99 curved arrow 100  gate 101  gate 102  gate 103  gate 104  gate105  gate 106  gate 107  gate 108  gate 109  counterweight 110  V-shapedportion 111  horizontal shaft 112  horizontal shaft 113  bearing 114 arrow 115  side wall 116  side wall 117  stop 118  stop

The foregoing embodiments are presented by way of example only; thescope of the present invention is to be limited only by the followingclaims.

1. An apparatus for filling prescriptions, comprising: a shelving unit removably carrying a plurality of containers; a source of a plurality of vials; a counting and dispensing unit; and a computer controlled robot for automatically moving containers and vials to and from said counting and dispensing unit, said robot having at its free end a single pair of movable jaws, each jaw having one surface configured to grip one of said plurality of containers and another surface configured to grip one of said plurality of vials.
 2. The apparatus of claim 1 wherein said source of a plurality of vials includes a vial dispenser.
 3. The apparatus of claim 1 wherein said robot includes an articulated, computer controlled arm.
 4. The apparatus of claim 1 wherein said shelving unit is arc shaped.
 5. The apparatus of claim 1 additionally comprising replenishment in and replenishment out ports, and wherein said computer controlled robot automatically moves said containers between said shelving unit and said ports.
 6. The apparatus of claim 1 additionally comprising an off-load device and a label printing and applying unit, said robot for automatically moving vials to and from said label printing and applying unit and to said off-load device from said counting and dispensing unit.
 7. The apparatus of claim 6 wherein said off-load device comprises one of a conveyor and a carousel.
 8. The apparatus of claim 6 wherein said off-load device comprises a conveyor having more than one lane. 